# US 10,481,270 B2 · Device for detecting an obstacle by means of intersecting planes and detection method using such a device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,270 B2 - Document ID: US10481270B2 - Status: Granted - Kind: B2 - Application number: 15/310,717 - Filed: 2015-06-05 - Published: 2017-03-16 - Granted: 2019-11-19 - Earliest claimed: 2014-06-05 - Assignees: Softbank Robotics Europe - Applicants: Softbank Robotics Europe - Inventors: Bruno Maisonnier; Jörg Ziegler; Vincent Clerc; Nicolas Garcia - Web page: https://patentgrep.com/patent/US10481270B2 ## CPC - G01S 17/931: of land vehicles - G01S 17/46: Indirect determination of position data - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G05D 1/0248: {in combination with a laser (lasers per se H01S)} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An obstacle detection device to be fitted to a mobile vehicle able to move parallel to a reference plane comprises: at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle, at least one image sensor able to produce an image of the intersection of the virtual planes and of the potential obstacle, an image analysis means able to determine the presence of an obstacle, configured to compare the image with a reference image. A detection method employing such a device is also provided. ## Claims ### Claim 1 An obstacle detection device which is intended to be fitted to a mobile vehicle able to move parallel to a reference plane, comprising: at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle, at least one image sensor able to produce a two-dimensional (2D) image of the intersection of the two virtual planes with the potential obstacle, and an image analysis means able to determine the presence of an obstacle by comparing the 2D image with a reference image, wherein the obstacle is determined to be present when the 2D image comprises a deformation of a straight line, and wherein the reference image comprises a straight line formed by intersection of the two virtual planes with the reference plane. ### Claim 2 (depends on 1) The device as claimed in claim 1, wherein the vehicle has a direction of travel in a first direction along an axis X and further comprises: a first emitter referred to as an oblique emitter of a first oblique beam extending in a first oblique virtual plane in the first direction along the axis X and secant with the reference plane, a second emitter referred to as an oblique emitter of a second oblique beam extending in a second oblique virtual plane in the first direction along the axis X and secant with the reference plane, a first image sensor able to produce an image around the intersection of the first and second oblique virtual planes with the reference plane. ### Claim 3 (depends on 2) The device as claimed in claim 2, comprising a first emitter referred to as a horizontal emitter of a first horizontal beam extending in a first virtual plane substantially parallel to the reference plane, and wherein the first image sensor is able to produce an image of the intersection of the first virtual plane and of the obstacle. ### Claim 4 (depends on 3) The device as claimed in claim 3, wherein the first virtual plane forms an angular sector about the axis X and wherein the device further comprises: a second emitter referred to as a horizontal emitter of a second horizontal beam extending in a second virtual plane in a first direction, forming an angular sector about an axis Y perpendicular to the axis X and substantially parallel to the reference plane, a second image sensor able to produce an image of the intersection of the second virtual plane and of the obstacle, a third emitter referred to as a horizontal emitter of a third horizontal beam extending in a third virtual plane in a second direction, the opposite of the first direction, forming an angular sector about the axis Y and substantially parallel to the reference plane, a third image sensor able to produce an image of the intersection of the third virtual plane and of the obstacle. ### Claim 5 (depends on 4) The device as claimed in claim 4, wherein the angular sector formed by the first horizontal beam is spaced away from the angular sectors formed by the second and third horizontal beams by a predefined angle. ### Claim 6 (depends on 5) The device as claimed in claim 5, wherein the angular sector is 120°. ### Claim 7 (depends on 3) The device as claimed in claim 3, further comprising positioning means for positioning a virtual plane referred to as a horizontal plane and intended to position said virtual plane referred to as a horizontal plane in such a way that it does not intersect the reference plane. ### Claim 8 (depends on 7) The device as claimed in claim 7, wherein the positioning means consist of a control loop able to determine an angular position of the virtual plane referred to as a horizontal plane with respect to the reference plane, and to transmit a new angular position to the emitter referred to as a horizontal emitter that forms the virtual plane referred to as a horizontal plane. ### Claim 9 (depends on 7) The device as claimed in claim 7, wherein the positioning means consist of an orientation of the emitter of the beam in such a way as to orient the virtual plane referred to as a horizontal plane in such a way as to form a positive angle between the virtual plane referred to as a horizontal plane and the reference plane. ### Claim 10 (depends on 2) The device as claimed in claim 2, further comprising: an emitter referred to as a shovel emitter of a shovel beam extending in a virtual plane configured to intersect with the reference plane along a straight line perpendicular to the axis X, wherein the first image sensor is able to produce an image of the straight line perpendicular to the axis X, and wherein the image analysis means is able to determine the presence of an obstacle by detecting a deformation of the straight line perpendicular to the axis X. ### Claim 11 (depends on 2) The device as claimed in claim 2, comprising control means configured to selectively deactivate emitters and sensors according to the direction of travel of the vehicle. ### Claim 12 (depends on 2) The device as claimed in claim 2, wherein it further comprises a processing circuit configured to sequence the emissions of the beams by the emitters and to synchronize the emissions of the beams with the image captures by the sensors. ### Claim 13 (depends on 1) The device as claimed in claim 1, wherein the beam or beams are laser beams. ### Claim 14 (depends on 1) A vehicle, comprising an obstacle detection device as claimed in claim 1. ### Claim 15 (depends on 1) An obstacle detection method employing a device as claimed in claim 1, comprising the following steps: emission of a beam able to form a virtual plane that may intersect with the obstacle, image capture and production of an image of the intersection of the virtual plane and of the obstacle, image analysis and determination of the obstacle. ### Claim 16 (depends on 15) The detection method as claimed in claim 15, further comprising the following steps: memory storage of a first image of the intersection of the virtual plane formed by the shovel beam with the reference plane, memory storage of a second image of the intersection of the virtual plane formed by the shovel beam with the obstacle, comparison of the first and second images so as to define the location of the obstacle.